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cn5X.py
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cn5X.py
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#! /usr/bin/env python3
# -*- coding: UTF-8 -*-
'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
' '
' Copyright 2018-2019 Gauthier Brière (gauthier.briere "at" gmail.com) '
' '
' This file is part of cn5X++ '
' '
' cn5X++ is free software: you can redistribute it and/or modify it '
' under the terms of the GNU General Public License as published by '
' the Free Software Foundation, either version 3 of the License, or '
' (at your option) any later version. '
' '
' cn5X++ is distributed in the hope that it will be useful, but '
' WITHOUT ANY WARRANTY; without even the implied warranty of '
' MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the '
' GNU General Public License for more details. '
' '
' You should have received a copy of the GNU General Public License '
' along with this program. If not, see <http://www.gnu.org/licenses/>. '
' '
'''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''''
import sys, os, time
import argparse
import csv
sys.path.insert(0, os.path.abspath('lib')) # add lib folder
from PyQt5 import QtCore, QtGui, QtWidgets, uic
from PyQt5.QtCore import Qt, QCoreApplication, QObject, QThread, pyqtSignal, pyqtSlot, QModelIndex, QItemSelectionModel, QFileInfo, QTranslator, QLocale, QSettings
from PyQt5.QtGui import QKeySequence, QStandardItemModel, QStandardItem, QValidator
from PyQt5.QtWidgets import QDialog, QAbstractItemView, QHBoxLayout, QShortcut
from PyQt5.QtSerialPort import QSerialPortInfo
from cn5X_config import *
from msgbox import *
from speedOverrides import *
from grblCom import grblCom
from grblDecode import grblDecode
from gcodeQLineEdit import gcodeQLineEdit
from cnQPushButton import cnQPushButton
from grblJog import grblJog
from myFile import gcodeFile, stlFile, vtkFile
from grblConfig import grblConfig
from RegistrationDialog import RegistrationDialog
from CameraDialog import CameraDialog
from HandEyeCalibrationDialog import HandEyeCalibrationDialog
from PathGenerationDialog import PathGenerationDialog
from cn5Xabout import cn5XAbout
from xml.dom.minidom import parse, Node, Element
import cn5X_rc
from Viewer import Viewer
import roslibpy
from JointStatePublisher import JointStatePublisher
self_dir = os.path.dirname(os.path.realpath(__file__))
class upperCaseValidator(QValidator):
def validate(self, string, pos):
return QValidator.Acceptable, string.upper(), pos
class GrblMainwindow(QtWidgets.QMainWindow):
def __init__(self, parent=None):
QtWidgets.QMainWindow.__init__(self, parent)
# ROS bridge
self.ros = roslibpy.Ros(host='localhost', port=9090)
self.joint_state_pub = JointStatePublisher(self.ros)
try:
self.ros.run(timeout=0.1)
except:
self.ros.terminate()
if not self.joint_state_pub.ros.is_connected:
self.joint_state_pub = None
self.upper_case = upperCaseValidator(self)
self.__gcodes_stack = []
self.__gcodes_stack_pos = -1
self.__gcode_recall_flag = False
self.__gcode_current_txt = ""
# QSettings class provides persistent platform-independent application settings
self.settings = QSettings(QSettings.NativeFormat, QSettings.UserScope, ORG_NAME, APP_NAME)
parser = argparse.ArgumentParser()
parser.add_argument("-c", "--connect", action="store_true", help="Connect to serial port")
parser.add_argument("-f", "--file", help="Open a GCode file")
parser.add_argument("-p", "--port", help="Select serial port")
parser.add_argument("-u", "--noEStop", action="store_true", help="Unlock the E-STOP")
self.__args = parser.parse_args()
# Find the license file in the same directory as the executable
if getattr(sys, 'frozen', False):
# frozen
dir_ = os.path.dirname(sys.executable)
else:
# unfrozen
dir_ = os.path.dirname(os.path.realpath(__file__))
self.__licenceFile = "{}/COPYING".format(dir_)
# Initialize the main window
ui_mainwindow = os.path.join(self_dir, 'ui/mainWindow.ui')
self.ui = uic.loadUi(ui_mainwindow, self)
# connect frmVtk with viewer
self.vtk_viewer = Viewer(self.ui.frmVtk, self)
self.vtk_layout = QHBoxLayout()
self.vtk_layout.addWidget(self.vtk_viewer)
self.vtk_layout.setContentsMargins(0,0,0,0)
self.ui.frmVtk.setLayout(self.vtk_layout)
self.vtk_viewer.start()
# Emergency button picture location
self.btnEmergencyPictureLocation = ":/cn5X/images/btnEmergency.svg"
self.btnEmergencyOffPictureLocation = ":/cn5X/images/btnEmergencyOff.svg"
self.timerDblClick = QtCore.QTimer() # double click timer for activating Emergency Stop
self.logGrbl = self.ui.txtGrblOutput # All Grbl messages will be redirected to the txtGrblOutput widget
self.logCn5X = self.ui.txtConsoleOutput # All application messages will be redirected to the txtConsoleOutput widget
self.logDebug = self.ui.txtDebugOutput # Debug message widget
self.logGrbl.document().setMaximumBlockCount(2000) # Limits the size of logs to 2000 lines
self.logCn5X.document().setMaximumBlockCount(2000)
self.logDebug.document().setMaximumBlockCount(2000)
self.ui.grpConsole.setCurrentIndex(2) # active the 3rd tab
self.__stlFile = stlFile(self.vtk_viewer)
self.__vtkFile = vtkFile(self.vtk_viewer)
self.__gcodeFile = gcodeFile(self.ui.gcodeTable)
self.__gcodeFile.sig_log.connect(self.on_sig_log)
self.__grblCom = grblCom()
self.__grblCom.sig_log.connect(self.on_sig_log)
self.__grblCom.sig_connect.connect(self.on_sig_connect)
self.__grblCom.sig_init.connect(self.on_sig_init)
self.__grblCom.sig_error.connect(self.on_sig_error)
self.__grblCom.sig_alarm.connect(self.on_sig_alarm)
self.__grblCom.sig_status.connect(self.on_sig_status)
self.__grblCom.sig_config.connect(self.on_sig_config)
self.__grblCom.sig_data.connect(self.on_sig_data)
self.__grblCom.sig_emit.connect(self.on_sig_emit)
self.__grblCom.sig_recu.connect(self.on_sig_recu)
self.__grblCom.sig_debug.connect(self.on_sig_debug)
self.decode = grblDecode(self.ui, self.log, self.__grblCom, self.joint_state_pub)
self.__jog = grblJog(self.__grblCom)
self.ui.dsbJogSpeed.setValue(DEFAULT_JOG_SPEED)
self.ui.dsbJogSpeed.valueChanged.connect(self.on_dsbJogSpeed_valueChanged)
self.__connectionStatus = False
self.__eStopON = True
self.__cycleRun = False
self.__cyclePause = False
self.__grblConfigLoaded = False
self.__nbAxis = DEFAULT_NB_AXIS
self.__axisNames = DEFAULT_AXIS_NAMES
self.updateAxisNumber()
self.__maxTravel = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
self.__firstGetSettings = False
self.__jogModContinue = False
QtGui.QFontDatabase.addApplicationFont(":/cn5X/fonts/LEDCalculator.ttf") # Police type "LED"
self.ui.btnConnect.setText("Connect")
self.populatePortList() # On rempli la liste des ports serie
app.setStyleSheet("QToolTip { background-color: rgb(248, 255, 192); color: rgb(0, 0, 63); }")
curIndex = -1 # On rempli la liste des vitesses
for v in QSerialPortInfo.standardBaudRates():
self.ui.cmbBauds.addItem(str(v))
curIndex += 1
if v == COM_DEFAULT_BAUD_RATE:
self.ui.cmbBauds.setCurrentIndex(curIndex)
# on affiche une chaine vide texte en bas de la fenetre (status bar)
self.__statusText = ""
self.ui.statusBar.showMessage(self.__statusText)
# Positionne l'etat d'activation des controles
self.setEnableDisableGroups()
"""---------- GUI event connections ----------"""
self.ui.btnEmergency.pressed.connect(self.on_setEmergency) # Emergency stop button events
self.ui.cmbPort.currentIndexChanged.connect(self.on_cmbPort_changed) # A click on the item of the list will call the method 'on_cmbPort_changed'
self.ui.mnuBar.hovered.connect(self.on_mnuBar) # Application menu connections
self.ui.mnuAppOpenStl.triggered.connect(self.on_mnuAppOpenStl)
self.ui.mnuAppOpenVtk.triggered.connect(self.on_mnuAppOpenVtk)
self.ui.mnuAppOpenGcode.triggered.connect(self.on_mnuAppOpenGcode)
self.ui.mnuAppSaveGcode.triggered.connect(self.on_mnuAppSaveGcode)
self.ui.mnuAppSaveGcodeAs.triggered.connect(self.on_mnuAppSaveGcodeAs)
self.ui.mnuAppCloseGcode.triggered.connect(self.on_mnuAppCloseGcode)
self.ui.mnuAppQuit.triggered.connect(self.on_mnuAppQuit)
self.ui.mnu_GrblConfig.triggered.connect(self.on_mnu_GrblConfig)
self.ui.actionRegistration.triggered.connect(self.on_mnu_ImplantRegistration)
self.ui.actionCamera.triggered.connect(self.on_mnu_Camera)
self.ui.mnu_MPos.triggered.connect(self.on_mnu_MPos)
self.ui.mnu_WPos.triggered.connect(self.on_mnu_WPos)
self.ui.mnuDebug_mode.triggered.connect(self.on_mnuDebug_mode)
self.ui.mnuA_propos.triggered.connect(self.on_mnuA_propos)
self.ui.btnRefresh.clicked.connect(self.populatePortList) # Refresh serial ports list
self.ui.btnConnect.clicked.connect(self.action_btnConnect) # A click on the button "(Un)Connect" will call the method 'action_btnConnect'
self.ui.btnSend.pressed.connect(self.sendCmd) # Button for sending cmds
self.ui.txtGCode.setValidator(self.upper_case) # Force all GCodes in capital letters
self.ui.txtGCode.returnPressed.connect(self.sendCmd) # Same function by the enter key as the send button
self.ui.txtGCode.textChanged.connect(self.txtGCode_on_Change) # Analyze the input field after being edited
self.ui.txtGCode.keyPressed.connect(self.on_keyPressed)
self.ui.btnDebug.clicked.connect(self.on_btnDebug)
self.ui.btnPausePolling.clicked.connect(self.on_btnPausePolling)
self.ui.btnClearDebug.clicked.connect(self.clearDebug)
self.ui.btnSpinM3.clicked.connect(self.on_btnSpinM3)
self.ui.btnSpinM4.clicked.connect(self.on_btnSpinM4)
self.ui.btnSpinM5.clicked.connect(self.on_btnSpinM5)
self.ui.lblG54.clicked.connect(self.on_lblG5xClick)
self.ui.lblG55.clicked.connect(self.on_lblG5xClick)
self.ui.lblG56.clicked.connect(self.on_lblG5xClick)
self.ui.lblG57.clicked.connect(self.on_lblG5xClick)
self.ui.lblG58.clicked.connect(self.on_lblG5xClick)
self.ui.lblG59.clicked.connect(self.on_lblG5xClick)
# Jogging buttons
self.ui.btnJogMoinsX.mousePress.connect(self.on_jog)
self.ui.btnJogPlusX.mousePress.connect(self.on_jog)
self.ui.btnJogMoinsY.mousePress.connect(self.on_jog)
self.ui.btnJogPlusY.mousePress.connect(self.on_jog)
self.ui.btnJogMoinsZ.mousePress.connect(self.on_jog)
self.ui.btnJogPlusZ.mousePress.connect(self.on_jog)
self.ui.btnJogMoinsA.mousePress.connect(self.on_jog)
self.ui.btnJogPlusA.mousePress.connect(self.on_jog)
self.ui.btnJogMoinsB.mousePress.connect(self.on_jog)
self.ui.btnJogPlusB.mousePress.connect(self.on_jog)
self.ui.btnJogMoinsC.mousePress.connect(self.on_jog)
self.ui.btnJogPlusC.mousePress.connect(self.on_jog)
self.ui.btnJogMoinsX.mouseRelease.connect(self.stop_jog)
self.ui.btnJogPlusX.mouseRelease.connect(self.stop_jog)
self.ui.btnJogMoinsY.mouseRelease.connect(self.stop_jog)
self.ui.btnJogPlusY.mouseRelease.connect(self.stop_jog)
self.ui.btnJogMoinsZ.mouseRelease.connect(self.stop_jog)
self.ui.btnJogPlusZ.mouseRelease.connect(self.stop_jog)
self.ui.btnJogMoinsA.mouseRelease.connect(self.stop_jog)
self.ui.btnJogPlusA.mouseRelease.connect(self.stop_jog)
self.ui.btnJogMoinsB.mouseRelease.connect(self.stop_jog)
self.ui.btnJogPlusB.mouseRelease.connect(self.stop_jog)
self.ui.btnJogMoinsC.mouseRelease.connect(self.stop_jog)
self.ui.btnJogPlusC.mouseRelease.connect(self.stop_jog)
self.ui.btnJogStop.mousePress.connect(self.__jog.jogCancel)
self.ui.rbRapid025.clicked.connect(lambda: self.__grblCom.realTimePush(REAL_TIME_RAPID_25_POURCENT))
self.ui.rbRapid050.clicked.connect(lambda: self.__grblCom.realTimePush(REAL_TIME_RAPID_50_POURCENT))
self.ui.rbRapid100.clicked.connect(lambda: self.__grblCom.realTimePush(REAL_TIME_RAPID_100_POURCENT))
self.ui.dialAvance.valueChanged.connect(self.on_feedOverride)
self.ui.dialBroche.valueChanged.connect(self.on_spindleOverride)
self.ui.btnLinkOverride.clicked.connect(self.on_btnLinkOverride)
self.ui.btnResetAvance.clicked.connect(self.on_btnResetAvance)
self.ui.btnResetBroche.clicked.connect(self.on_btnResetBroche)
self.ui.btnKillAlarm.clicked.connect(self.on_btnKillAlarm)
self.ui.btnHomeCycle.clicked.connect(self.on_btnHomeCycle)
self.ui.btnReset.clicked.connect(self.on_btnReset)
self.ui.btnStart.clicked.connect(self.startCycle)
self.ui.btnPause.clicked.connect(self.pauseCycle)
self.ui.btnStop.clicked.connect(self.stopCycle)
self.ui.gcodeTable.customContextMenuRequested.connect(self.on_gcodeTableContextMenu)
self.ui.dialAvance.customContextMenuRequested.connect(self.on_dialAvanceContextMenu)
self.ui.dialBroche.customContextMenuRequested.connect(self.on_dialBrocheContextMenu)
self.ui.label_grblPos_1.customContextMenuRequested.connect(lambda: self.on_grblPos_6ontextMenu(0))
self.ui.label_grblPos_2.customContextMenuRequested.connect(lambda: self.on_grblPos_6ontextMenu(1))
self.ui.label_grblPos_3.customContextMenuRequested.connect(lambda: self.on_grblPos_6ontextMenu(2))
self.ui.label_grblPos_4.customContextMenuRequested.connect(lambda: self.on_grblPos_6ontextMenu(3))
self.ui.label_grblPos_5.customContextMenuRequested.connect(lambda: self.on_grblPos_6ontextMenu(4))
self.ui.label_grblPos_6.customContextMenuRequested.connect(lambda: self.on_grblPos_6ontextMenu(5))
self.ui.grblPos_1.customContextMenuRequested.connect(lambda: self.on_grblPos_6ontextMenu(0))
self.ui.grblPos_2.customContextMenuRequested.connect(lambda: self.on_grblPos_6ontextMenu(1))
self.ui.grblPos_3.customContextMenuRequested.connect(lambda: self.on_grblPos_6ontextMenu(2))
self.ui.grblPos_4.customContextMenuRequested.connect(lambda: self.on_grblPos_6ontextMenu(3))
self.ui.grblPos_5.customContextMenuRequested.connect(lambda: self.on_grblPos_6ontextMenu(4))
self.ui.grblPos_6.customContextMenuRequested.connect(lambda: self.on_grblPos_6ontextMenu(5))
self.ui.lblPlan.customContextMenuRequested.connect(self.on_lblPlanContextMenu)
self.ui.lblUnites.customContextMenuRequested.connect(self.on_lblUnitesContextMenu)
self.ui.lblCoord.customContextMenuRequested.connect(self.on_lblCoordContextMenu)
self.ui.lblG54.customContextMenuRequested.connect(lambda: self.on_lblGXXContextMenu(1))
self.ui.lblG55.customContextMenuRequested.connect(lambda: self.on_lblGXXContextMenu(2))
self.ui.lblG56.customContextMenuRequested.connect(lambda: self.on_lblGXXContextMenu(3))
self.ui.lblG57.customContextMenuRequested.connect(lambda: self.on_lblGXXContextMenu(4))
self.ui.lblG58.customContextMenuRequested.connect(lambda: self.on_lblGXXContextMenu(5))
self.ui.lblG59.customContextMenuRequested.connect(lambda: self.on_lblGXXContextMenu(6))
# Laser test
self.ui.verticalSlider_laser_test.valueChanged.connect(self.updateTestLaserPower)
self.ui.pushButton_laser_test.pressed.connect(lambda: self.__grblCom.gcodePush("S{}".format(self.ui.doubleSpinBox_laser_test.value())))
self.ui.pushButton_laser_test.released.connect(lambda: self.__grblCom.gcodePush("S0"))
# Path Generation
self.path_generation_dialog = None
self.ui.actionPathGeneration.triggered.connect(self.on_mnu_PathGeneration)
# VTK Viewer Action
self.ui.radioButton_camera.toggled.connect(self.switchInteractorStyle)
self.ui.radioButton_actor.toggled.connect(self.switchInteractorStyle)
self.shortcut_switch_radio_btn = QShortcut(QKeySequence("Ctrl+A"), self)
self.shortcut_switch_radio_btn.activated.connect(self.switchRadioButton)
# Registration
self.registration_dialog = None
# HandEyeCalibration
self.ui.actionHandeye.triggered.connect(self.on_mnu_HandEyeCalibration)
#--------------------------------------------------------------------------------------
# Parse arguments from the command line
#--------------------------------------------------------------------------------------
if self.__args.connect:
# Connection du port serie
self.action_btnConnect()
if self.__args.file != None:
# Charge le fichier GCode a l'ouverture
# Curseur sablier
self.setCursor(Qt.WaitCursor)
RC = self.__gcodeFile.readFile(self.__args.file)
if RC:
# Selectionne l'onglet du fichier sauf en cas de debug actif
if not self.ui.btnDebug.isChecked():
self.ui.grpConsole.setCurrentIndex(1)
self.setWindowTitle(APP_NAME + " - " + self.__gcodeFile.filePath())
else:
# Selectionne l'onglet de la console pour que le message d'erreur s'affiche sauf en cas de debug
if not self.ui.btnDebug.isChecked():
self.ui.grpConsole.setCurrentIndex(2)
# Restore le curseur de souris
self.setCursor(Qt.ArrowCursor)
if self.__args.noEStop:
self.__eStopON = False
self.log(logSeverity.info.value, "Emergency stop unlocked.")
# Initializes the state of activation of the controls depending on the selection of the serial port or not
self.setEnableDisableConnectControls()
# Enables or disables the cycle buttons
self.setEnableDisableGroups()
def populatePortList(self):
''' Rempli la liste des ports serie '''
self.ui.cmbPort.clear()
self.ui.cmbPort.addItem("")
if len(QSerialPortInfo.availablePorts()) > 0:
for p in QSerialPortInfo.availablePorts():
self.ui.cmbPort.addItem(p.portName() + ' - ' + p.description())
if self.__args.port != None:
if self.__args.port == p.portName() or self.__args.port == p.systemLocation():
self.ui.cmbPort.setCurrentIndex(len(self.ui.cmbPort)-1)
else:
m = msgBox(
title = "Attention !",
text = "No communication port available!",
info = "{} could not find a serial port to communicate with grbl.".format(sys.argv[0]),
icon = msgIconList.Information,
detail = "\n class serialCom:\n The call to serial.tools.list_ports.comports()\n did not return any port.",
stdButton = msgButtonList.Close
)
m.afficheMsg()
# S'il n'y a qu'un seul port serie et que l'on a rien precise comme option port, on le selectionne
if self.__args.port == None:
if len(QSerialPortInfo.availablePorts()) == 1:
self.ui.cmbPort.setCurrentIndex(1)
# Definit l'activation des controles en fonction de la selection du port serie ou non
self.setEnableDisableConnectControls()
def setEnableDisableConnectControls(self):
'''
Activate or deactivate connection checks according to port connection and selection status
'''
if self.__connectionStatus:
self.ui.cmbPort.setEnabled(False)
self.ui.cmbBauds.setEnabled(False)
self.ui.btnConnect.setEnabled(True)
else:
self.ui.cmbPort.setEnabled(True)
if self.ui.cmbPort.currentText() == "":
self.ui.cmbBauds.setEnabled(False)
self.ui.btnConnect.setEnabled(False)
else:
self.ui.cmbBauds.setEnabled(True)
self.ui.btnConnect.setEnabled(True)
def setEnableDisableGroups(self):
'''
Determines the Enable / Disable state of the different control groups
depending on the connection state and the state of the emergency stop button.
'''
if not self.__connectionStatus:
# Not connected, everything must be deactivated and the emergency stop pressed
self.ui.btnEmergency.setIcon(QtGui.QIcon(self.btnEmergencyOffPictureLocation))
self.ui.btnEmergency.setToolTip("Double click to \n to unlock the emergency stop")
self.ui.frmEmergency.setEnabled(False)
self.ui.frmControlSpeed.setEnabled(False)
self.ui.grpJog.setEnabled(False)
self.ui.frmGcodeInput.setEnabled(False)
self.ui.frmButtons.setEnabled(False)
self.ui.grpStatus.setEnabled(False)
self.ui.frmHomeAlarm.setEnabled(False)
elif self.__eStopON:
# Connect but under emergency stop: Everything is deactivated except emergency stop
self.ui.btnEmergency.setIcon(QtGui.QIcon(self.btnEmergencyOffPictureLocation))
self.ui.btnEmergency.setToolTip("Double click to \n to unlock the emergency stop")
self.ui.frmEmergency.setEnabled(True)
self.ui.frmControlSpeed.setEnabled(False)
self.ui.grpJog.setEnabled(False)
self.ui.frmGcodeInput.setEnabled(False)
self.ui.frmButtons.setEnabled(False)
self.ui.grpStatus.setEnabled(False)
self.ui.frmHomeAlarm.setEnabled(False)
else:
# Everything is in order, we activate everything
self.ui.btnEmergency.setIcon(QtGui.QIcon(self.btnEmergencyPictureLocation))
self.ui.btnEmergency.setToolTip("Emergency Stop")
self.ui.frmEmergency.setEnabled(True)
self.ui.frmControlSpeed.setEnabled(True)
self.ui.grpJog.setEnabled(True)
self.ui.frmGcodeInput.setEnabled(True)
self.ui.frmButtons.setEnabled(True)
self.ui.grpStatus.setEnabled(True)
self.ui.frmHomeAlarm.setEnabled(True)
if self.__gcodeFile.isFileLoaded():
self.ui.frmCycle.setEnabled(True)
else:
self.ui.frmCycle.setEnabled(False)
@pyqtSlot()
def on_mnuBar(self):
if self.__gcodeFile.isFileLoaded():
self.ui.mnuAppSaveGcodeAs.setEnabled(True)
self.ui.mnuAppCloseGcode.setEnabled(True)
if self.__gcodeFile.gcodeChanged():
self.ui.mnuAppSaveGcode.setEnabled(True)
else:
self.ui.mnuAppSaveGcode.setEnabled(False)
else:
self.ui.mnuAppSaveGcode.setEnabled(False)
self.ui.mnuAppSaveGcodeAs.setEnabled(False)
self.ui.mnuAppCloseGcode.setEnabled(False)
if self.__connectionStatus:
self.ui.mnu_MPos.setEnabled(True)
self.ui.mnu_WPos.setEnabled(True)
if self.__eStopON:
self.ui.mnu_GrblConfig.setEnabled(True)
else:
self.ui.mnu_GrblConfig.setEnabled(False)
self.ui.actionRegistration.setEnabled(True)
else:
self.ui.mnu_MPos.setEnabled(False)
self.ui.mnu_WPos.setEnabled(False)
self.ui.mnu_GrblConfig.setEnabled(False)
self.ui.actionRegistration.setEnabled(False)
@pyqtSlot()
def on_mnuAppOpenStl(self):
# Displays the opening dialog
fileName = self.__stlFile.showFileOpen()
if fileName[0] != "":
self.setCursor(Qt.WaitCursor)
RC = self.__stlFile.readFile(fileName[0])
if RC:
self.setWindowTitle(APP_NAME + " - " + self.__stlFile.filePath())
else:
# Select the console tab so that the error message is displayed except in case of debug
if not self.ui.btnDebug.isChecked():
self.ui.grpConsole.setCurrentIndex(2)
# Restore mouse cursor
self.setCursor(Qt.ArrowCursor)
@pyqtSlot()
def on_mnuAppOpenVtk(self):
# Displays the opening dialog
fileName = self.__vtkFile.showFileOpen()
if fileName[0] != "":
self.setCursor(Qt.WaitCursor)
RC = self.__vtkFile.readFile(fileName[0])
if RC:
self.setWindowTitle(APP_NAME + " - " + self.__vtkFile.filePath())
else:
# Select the console tab so that the error message is displayed except in case of debug
if not self.ui.btnDebug.isChecked():
self.ui.grpConsole.setCurrentIndex(2)
# Restore mouse cursor
self.setCursor(Qt.ArrowCursor)
@pyqtSlot()
def on_mnuAppOpenGcode(self):
# Displays the opening dialog
fileName = self.__gcodeFile.showFileOpen()
if fileName[0] != "":
# Reading the file
# Hourglass slider
self.setCursor(Qt.WaitCursor)
RC = self.__gcodeFile.readFile(fileName[0])
if RC:
# Select the file tab except in case of debug
if not self.ui.btnDebug.isChecked():
self.ui.grpConsole.setCurrentIndex(1)
else:
# Select the console tab so that the error message is displayed except in case of debug
if not self.ui.btnDebug.isChecked():
self.ui.grpConsole.setCurrentIndex(2)
# Enables or disables the cycle buttons
self.setEnableDisableGroups()
# Restore mouse cursor
self.setCursor(Qt.ArrowCursor)
@pyqtSlot()
def on_mnuAppSaveGcode(self):
if self.__gcodeFile.filePath != "":
self.__gcodeFile.saveFile()
@pyqtSlot()
def on_mnuAppSaveGcodeAs(self):
self.__gcodeFile.saveAs()
@pyqtSlot()
def on_mnuAppCloseGcode(self):
self.__gcodeFile.closeFile()
@pyqtSlot()
def on_mnuAppQuit(self):
self.close()
def closeEvent(self, event):
self.log(logSeverity.info.value, "Fermeture de l'application...")
if self.__connectionStatus:
self.__grblCom.stopCom()
if not self.__gcodeFile.closeFile():
self.log(logSeverity.info.value, "Fermeture du fichier annulee")
event.setAccepted(False) # True accepte la fermeture, False annule la fermeture
else:
self.__statusText = "Bye-bye..."
self.ui.statusBar.showMessage(self.__statusText)
event.accept() # let the window close
@pyqtSlot()
def on_mnu_MPos(self):
if self.ui.mnu_MPos.isChecked():
param10 = 255 # Le bit 1 est a 1
self.__grblCom.gcodeInsert("$10=" + str(param10))
@pyqtSlot()
def on_mnu_WPos(self):
if self.ui.mnu_WPos.isChecked():
param10 = 255 ^ 1 # Met le bit 1 a 0
self.__grblCom.gcodeInsert("$10=" + str(param10))
@pyqtSlot()
def on_mnu_GrblConfig(self):
''' Configuration dialog'''
self.__grblConfigLoaded = True
dlgConfig = grblConfig(self.__grblCom, self.__nbAxis, self.__axisNames)
dlgConfig.setParent(self)
dlgConfig.sig_config_changed.connect(self.on_sig_config_changed)
dlgConfig.showDialog()
self.__grblConfigLoaded = False
# Refreshed the config
self.__grblCom.gcodeInsert(CMD_GRBL_GET_SETTINGS)
@pyqtSlot()
def on_mnu_ImplantRegistration(self):
''' Implant registration dialog'''
self.registration_dialog = RegistrationDialog(self.__grblCom, self.ros, viewer = self.vtk_viewer)
@pyqtSlot()
def on_mnu_HandEyeCalibration(self):
''' HandeyeCalibration dialog'''
self.handeyecalibration_dialog = HandEyeCalibrationDialog(self.__grblCom, self.ros)
@pyqtSlot()
def on_mnu_Camera(self):
''' Camera dialog'''
self.camera_dialog = CameraDialog(self.ros)
@pyqtSlot()
def on_mnu_PathGeneration(self):
''' Path Generation dialog'''
self.path_generation_dialog = PathGenerationDialog(viewer = self.vtk_viewer)
self.vtk_viewer.addPathGenerationDialog(self.path_generation_dialog)
@pyqtSlot(str)
def on_sig_config_changed(self, data: str):
self.log(logSeverity.info.value, "Configuration de Grbl changee : {}".format(data) )
@pyqtSlot()
def on_setEmergency(self):
if self.__eStopON:
# If the emergency stop is active, you have to double click to deactivate it
if not self.timerDblClick.isActive():
# Double click timer: if it's a simple click, it will not unlock the emergency stop button. Upon first click, we activate the timer to see if the 2nd will be within the allotted time
self.timerDblClick.setSingleShot(True)
self.timerDblClick.start(QtWidgets.QApplication.instance().doubleClickInterval())
else:
# self.timerDblClick.remainingTime() > 0 # Double click detected
self.timerDblClick.stop()
self.__eStopON = False
self.log(logSeverity.info.value, "Unlocking the Emergency Stop.")
else:
self.__grblCom.clearCom() # Empty the communication queue
self.__grblCom.realTimePush(REAL_TIME_SOFT_RESET) # dispatch Ctrl+X.
self.__eStopON = True
self.log(logSeverity.warning.value, "Emergency Stop ON!!!")
# Updates the active / inactive state of the Grbl control groups
self.setEnableDisableGroups()
@pyqtSlot()
def action_btnConnect(self):
if not self.__connectionStatus:
# Force l'onglet "Grbl output" sauf en cas de debug
if not self.ui.btnDebug.isChecked():
self.ui.grpConsole.setCurrentIndex(0)
# Recupere les coordonnees et parametres du port a connecter
serialDevice = self.ui.cmbPort.currentText()
serialDevice = serialDevice.split("-")
serialDevice = serialDevice[0].strip()
baudRate = int(self.ui.cmbBauds.currentText())
# Demarrage du communicator
self.__grblCom.startCom(serialDevice, baudRate)
else:
# Arret du comunicator
self.__grblCom.stopCom()
self.__connectionStatus = self.__grblCom.isOpen()
self.ui.btnConnect.setText("Connect")
# Force l'onglet "Grbl output" sauf en cas de debug
if not self.ui.btnDebug.isChecked():
self.ui.grpConsole.setCurrentIndex(2)
@pyqtSlot()
def on_sig_connect(self):
self.__connectionStatus = self.__grblCom.isOpen()
if self.__connectionStatus:
# Mise a jour de l'interface machine connectée
self.ui.lblConnectStatus.setText("Connect to {}".format(self.ui.cmbPort.currentText().split("-")[0].strip()))
self.ui.btnConnect.setText("Unconnect")
self.setEnableDisableConnectControls()
# Active les groupes de controles de pilotage de Grbl
self.setEnableDisableGroups()
else:
# Mise a jour de l'interface machine non connectée
self.ui.lblConnectStatus.setText("<Not Connected>")
self.ui.btnConnect.setText("Connect")
self.__statusText = ""
self.ui.statusBar.showMessage(self.__statusText)
self.setEnableDisableConnectControls()
# Force la position de l'arret d'urgence
self.__eStopON = True
# Active les groupes de controles de pilotage de Grbl
self.setEnableDisableGroups()
# On redemandera les paramètres à la prochaine connection
self.__firstGetSettings = False
@pyqtSlot(int)
def on_feedOverride(self, value: int):
adjustFeedOverride(int(self.ui.lblAvancePourcent.text()[:-1]), value, self.__grblCom)
self.ui.lblAvancePourcent.setText("{}%".format(value))
if self.ui.btnLinkOverride.isChecked() and (value != self.ui.dialBroche.value()):
self.ui.dialBroche.setValue(value)
@pyqtSlot(int)
def on_spindleOverride(self, value: int):
adjustSpindleOverride(int(self.ui.lblBrochePourcent.text()[:-1]), value, self.__grblCom)
self.ui.lblBrochePourcent.setText("{}%".format(value))
if self.ui.btnLinkOverride.isChecked() and (value != self.ui.dialAvance.value()):
self.ui.dialAvance.setValue(value)
@pyqtSlot()
def on_btnLinkOverride(self):
if self.ui.btnLinkOverride.isChecked() and (self.ui.dialAvance.value() != self.ui.dialBroche.value()):
newValue = (self.ui.dialAvance.value() + self.ui.dialBroche.value()) / 2
self.ui.dialBroche.setValue(newValue)
self.ui.dialAvance.setValue(newValue)
@pyqtSlot()
def on_btnResetAvance(self):
self.ui.dialAvance.setValue(100)
@pyqtSlot()
def on_btnResetBroche(self):
self.ui.dialBroche.setValue(100)
@pyqtSlot()
def on_cmbPort_changed(self):
self.setEnableDisableConnectControls()
@pyqtSlot(cnQPushButton, QtGui.QMouseEvent)
def on_jog(self, cnButton, e):
jogDistance = 0
for qrb in [self.ui.rbtJog0000, self.ui.rbtJog0001, self.ui.rbtJog0010, self.ui.rbtJog0100, self.ui.rbtJog1000]:
if qrb.isChecked():
jogDistance = float(qrb.text().replace(' ', ''))
if jogDistance != 0:
self.__jogModContinue = False
while cnButton.isMouseDown(): # send only after releasing the button
# Process events to receive signals;
QCoreApplication.processEvents()
# sending the jog command
self.__jog.on_jog(cnButton, e, jogDistance)
else: # jogDistance == 0
self.__jogModContinue = True
# Finds the max stroke of the considered axis
axis = cnButton.name()[-1] # The axis is defined by the last character of the Button name
maxTravel = 0
for I in range(self.__nbAxis):
if axis == self.__axisNames[I]:
maxTravel = self.__maxTravel[I]
break
# sending the jog command
self.__jog.on_jog(cnButton, e, jogDistance, maxTravel)
@pyqtSlot(cnQPushButton, QtGui.QMouseEvent)
def stop_jog(self, cnButton, e):
if self.__jogModContinue:
self.__jog.jogCancel()
@pyqtSlot(float)
def on_dsbJogSpeed_valueChanged(self, val: float):
self.__jog.setJogSpeed(val)
@pyqtSlot()
def on_btnSpinM3(self):
self.__grblCom.gcodeInsert("G1 F{}".format(self.ui.dsbJogSpeed.value()))
self.__grblCom.gcodeInsert("M3")
self.ui.btnSpinM4.setEnabled(False) # Interdit un changement de sens de rotation direct
@pyqtSlot()
def on_btnSpinM4(self):
self.__grblCom.gcodeInsert("G1 F{}".format(self.ui.dsbJogSpeed.value()))
self.__grblCom.gcodeInsert("M4")
self.ui.btnSpinM3.setEnabled(False) # Interdit un changement de sens de rotation direct
@pyqtSlot()
def on_btnSpinM5(self):
self.__grblCom.gcodeInsert("G0 F0")
self.__grblCom.gcodeInsert("M5")
self.ui.btnSpinM3.setEnabled(True)
self.ui.btnSpinM4.setEnabled(True)
@pyqtSlot(str, QtGui.QMouseEvent)
def on_lblG5xClick(self, lblText, e):
self.__grblCom.gcodeInsert(lblText)
@pyqtSlot()
def on_btnKillAlarm(self):
self.__grblCom.gcodeInsert(CMD_GRBL_KILL_ALARM_LOCK)
@pyqtSlot()
def on_btnHomeCycle(self):
self.__grblCom.gcodeInsert(CMD_GRBL_RUN_HOME_CYCLE)
@pyqtSlot()
def on_btnReset(self):
self.__grblCom.realTimePush(REAL_TIME_SOFT_RESET)
@pyqtSlot()
def sendCmd(self):
if self.ui.txtGCode.text() != "":
if self.ui.txtGCode.text() == REAL_TIME_REPORT_QUERY:
self.decode.getNextStatus()
if self.ui.txtGCode.text() == CMD_GRBL_GET_GCODE_PARAMATERS:
self.decode.getNextGCodeParams()
if self.ui.txtGCode.text() == CMD_GRBL_GET_GCODE_STATE:
self.decode.getNextGCodeState()
self.__grblCom.gcodePush(self.ui.txtGCode.text())
self.ui.txtGCode.setSelection(0,len(self.ui.txtGCode.text()))
self.ui.txtGCode.setFocus()
if self.ui.txtGCode.text() != "":
self.__gcodes_stack.insert(0, self.ui.txtGCode.text())
self.__gcodes_stack_pos = 0
self.__gcode_current_txt = ""
@pyqtSlot()
def txtGCode_on_Change(self):
if self.ui.txtGCode.text() == REAL_TIME_REPORT_QUERY:
self.logGrbl.append(REAL_TIME_REPORT_QUERY)
self.decode.getNextStatus()
self.__grblCom.realTimePush(REAL_TIME_REPORT_QUERY) # Envoi direct ? sans attendre le retour chariot.
self.ui.txtGCode.setSelection(0,len(self.ui.txtGCode.text()))
if not self.__gcode_recall_flag:
self.__gcodes_stack_pos = -1
else:
self.__gcode_recall_flag = False
@pyqtSlot(QtGui.QKeyEvent)
def on_keyPressed(self, e):
key = e.key()
if QKeySequence(key+int(e.modifiers())) == QKeySequence("Ctrl+C"):
pass
elif QKeySequence(key+int(e.modifiers())) == QKeySequence("Ctrl+X"):
self.logGrbl.append("Ctrl+X")
self.__grblCom.realTimePush(REAL_TIME_SOFT_RESET) # Envoi Ctrl+X.
elif key == Qt.Key_Up:
# Rappel des dernières commandes GCode
if len(self.__gcodes_stack) > 0:
if self.__gcode_current_txt == "":
self.__gcode_current_txt = self.ui.txtGCode.text()
self.__gcodes_stack_pos += 1
if self.__gcodes_stack_pos >= 0 and self.__gcodes_stack_pos < len(self.__gcodes_stack):
self.__gcode_recall_flag = True
self.ui.txtGCode.setText(self.__gcodes_stack[self.__gcodes_stack_pos])
self.ui.txtGCode.setSelection(0,len(self.ui.txtGCode.text()))
elif self.__gcodes_stack_pos >= len(self.__gcodes_stack):
self.__gcodes_stack_pos = len(self.__gcodes_stack) - 1
elif key == Qt.Key_Down:
# Rappel des dernières commandes GCode
if len(self.__gcodes_stack) > 0:
self.__gcodes_stack_pos -= 1
if self.__gcodes_stack_pos >= 0 and self.__gcodes_stack_pos < len(self.__gcodes_stack):
self.__gcode_recall_flag = True
self.ui.txtGCode.setText(self.__gcodes_stack[self.__gcodes_stack_pos])
self.ui.txtGCode.setSelection(0,len(self.ui.txtGCode.text()))
elif self.__gcodes_stack_pos < 0:
self.ui.txtGCode.setText(self.__gcode_current_txt)
self.__gcodes_stack_pos = -1
@pyqtSlot(int, str)
def on_sig_log(self, severity: int, data: str):
if severity == logSeverity.info.value:
self.logCn5X.setTextColor(TXT_COLOR_GREEN)
self.logCn5X.append(time.strftime("%Y-%m-%d %H:%M:%S") + " : Info : " + data)
elif severity == logSeverity.warning.value:
self.logCn5X.setTextColor(TXT_COLOR_ORANGE)
self.logCn5X.append(time.strftime("%Y-%m-%d %H:%M:%S") + " : Warning : " + data)
if not self.ui.btnDebug.isChecked():
self.ui.grpConsole.setCurrentIndex(2)
elif severity == logSeverity.error.value:
self.logCn5X.setTextColor(TXT_COLOR_RED)
self.logCn5X.append(time.strftime("%Y-%m-%d %H:%M:%S") + " : Error : " + data)
if not self.ui.btnDebug.isChecked():
self.ui.grpConsole.setCurrentIndex(2)
def log(self, severity: int, data: str):
self.on_sig_log(severity, data)
@pyqtSlot(str)
def on_sig_init(self, data: str):
self.log(logSeverity.info.value, "cn5X++ : Grbl initialise.")
self.logGrbl.append(data)
self.__statusText = data.split("[")[0]
self.ui.statusBar.showMessage(self.__statusText)
# Interroge la config de grbl si la première fois
if not self.__firstGetSettings:
self.__grblCom.gcodeInsert(CMD_GRBL_GET_SETTINGS)
self.__firstGetSettings = True
@pyqtSlot(int)
def on_sig_error(self, errNum: int):
self.logGrbl.append(self.decode.errorMessage(errNum))
@pyqtSlot(int)
def on_sig_alarm(self, alarmNum: int):
self.logGrbl.append(self.decode.alarmMessage(alarmNum))
@pyqtSlot(str)
def on_sig_status(self, data: str):
retour = self.decode.decodeGrblStatus(data)
if retour != "":
self.logGrbl.append(retour)
@pyqtSlot(str)
def on_sig_data(self, data: str):
retour = self.decode.decodeGrblData(data)
if retour is not None and retour != "":
self.logGrbl.append(retour)
@pyqtSlot(str)
def on_sig_config(self, data: str):
# Find the chain "[AXS: 5: XYZAB]" to retrieve the number of axes and their names
if data[:5] == "[AXS:":
self.__nbAxis = int(data[1:-1].split(':')[1])
self.__axisNames = list(data[1:-1].split(':')[2])
if len(self.__axisNames) < self.__nbAxis:
# It is possible that there are fewer letters than the number of axes if Grbl implements the REPORT_VALUE_FOR_AXIS_NAME_ONCE option.
self.__nbAxis = len(self.__axisNames);
self.updateAxisNumber()
self.decode.setNbAxis(self.__nbAxis)
# Memorizes the maximum travel range
elif data[:4] == "$130":
self.__maxTravel[0] = float(data[5:])
elif data[:4] == "$131":
self.__maxTravel[1] = float(data[5:])
elif data[:4] == "$132":
self.__maxTravel[2] = float(data[5:])
elif data[:4] == "$133":
self.__maxTravel[3] = float(data[5:])
elif data[:4] == "$134":
self.__maxTravel[4] = float(data[5:])
elif data[:4] == "$135":
self.__maxTravel[5] = float(data[5:])
if not self.__grblConfigLoaded:
self.logGrbl.append(data)
def updateAxisNumber(self):
self.ui.label_grblPos_1.setText(self.__axisNames[0])
self.ui.label_grblPos_2.setText(self.__axisNames[1])
self.ui.label_grblPos_3.setText(self.__axisNames[2])
if self.__nbAxis > 3:
self.ui.label_grblPos_4.setText(self.__axisNames[3])
self.ui.label_grblPos_4.setEnabled(True)
self.ui.label_grblPos_4.setStyleSheet("")
self.ui.grblPos_4.setEnabled(True)
self.ui.grblPos_4.setStyleSheet("")
self.ui.lblG5xA.setStyleSheet("")
self.ui.lblG92A.setStyleSheet("")
self.ui.lblWcoA.setStyleSheet("")
else:
self.ui.label_grblPos_4.setText("")
self.ui.label_grblPos_4.setEnabled(False)
self.ui.label_grblPos_4.setStyleSheet("color: rgb(224, 224, 230);")
self.ui.grblPos_4.setEnabled(False)
self.ui.grblPos_4.setStyleSheet("color: rgb(224, 224, 230);")
self.ui.lblG5xA.setStyleSheet("color: rgb(224, 224, 230);")
self.ui.lblG92A.setStyleSheet("color: rgb(224, 224, 230);")
self.ui.lblWcoA.setStyleSheet("color: rgb(224, 224, 230);")
if self.__nbAxis > 4:
self.ui.label_grblPos_5.setText(self.__axisNames[4])
self.ui.label_grblPos_5.setEnabled(True)
self.ui.label_grblPos_5.setStyleSheet("")
self.ui.grblPos_5.setEnabled(True)
self.ui.grblPos_5.setStyleSheet("")
self.ui.lblG5xB.setStyleSheet("")
self.ui.lblG92B.setStyleSheet("")
self.ui.lblWcoB.setStyleSheet("")
else:
self.ui.label_grblPos_5.setText("")
self.ui.label_grblPos_5.setEnabled(False)
self.ui.label_grblPos_5.setStyleSheet("color: rgb(224, 224, 230);")
self.ui.grblPos_5.setEnabled(False)
self.ui.grblPos_5.setStyleSheet("color: rgb(224, 224, 230);")
self.ui.lblG5xB.setStyleSheet("color: rgb(224, 224, 230);")
self.ui.lblG92B.setStyleSheet("color: rgb(224, 224, 230);")
self.ui.lblWcoB.setStyleSheet("color: rgb(224, 224, 230);")
if self.__nbAxis > 5:
self.ui.label_grblPos_6.setText(self.__axisNames[5])
self.ui.label_grblPos_6.setEnabled(True)
self.ui.label_grblPos_6.setStyleSheet("")
self.ui.grblPos_6.setEnabled(True)
self.ui.grblPos_6.setStyleSheet("")
self.ui.lblG5xC.setStyleSheet("")
self.ui.lblG92C.setStyleSheet("")
self.ui.lblWcoC.setStyleSheet("")